CN212445249U - Marine petroleum pipeline maintenance robot - Google Patents
Marine petroleum pipeline maintenance robot Download PDFInfo
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- CN212445249U CN212445249U CN202020856345.8U CN202020856345U CN212445249U CN 212445249 U CN212445249 U CN 212445249U CN 202020856345 U CN202020856345 U CN 202020856345U CN 212445249 U CN212445249 U CN 212445249U
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Abstract
The utility model relates to the technical field of pipeline maintenance equipment, especially a marine petroleum pipeline maintenance robot, including drum shell and moving mechanism, moving mechanism locates outside the drum shell, moving mechanism includes connecting seat and crawl leg, the connecting seat is equipped with the connecting piece, crawl leg includes first shank, second shank and fixed suction cup, first shank one end with the connecting piece rotates to be connected, and just first shank through first shank movable joint with the connecting piece transmission is connected, the one end that first shank kept away from the connecting piece with the one end of second shank rotates to be connected, and just the first shank through second shank movable joint with the one end transmission of second shank is connected, the one end that the second shank kept away from the first shank with the articulated of fixed suction cup; and a maintenance mechanism is arranged in the cylinder shell. The utility model discloses can adsorb at the pipeline outer wall under water, overcome the influence of undercurrent to effectively maintain the pipeline.
Description
Technical Field
The utility model relates to a pipeline maintenance equipment technical field, especially a robot is maintained to ocean petroleum pipeline.
Background
The offshore oil is developed rapidly, and a large amount of offshore oil conveying pipelines are built. Most offshore oil conveying pipelines are oil-resistant rubber pipes and have high resistance to crude oil, but according to statistics, the oil conveying pipelines can only be used for four to five years in low-risk areas. The service life of the oil pipeline can be prolonged by maintaining the oil pipeline, the pipeline maintenance in the ocean has greater risks due to the uncertainty of the ocean, and the pipeline maintenance by adopting a robot is necessary.
At present, underwater operation robots are mostly in a mode of a submarine and a mechanical arm, although the underwater operation robots are flexible in movement, the underwater operation robots are greatly influenced by underwater undercurrent, the requirements on the working environment during operation are high, the in-pipe robots cannot be influenced by the undercurrent, but the in-pipe liquid flow is blocked, and therefore the maintenance robots are not supported in the pipe during oil exploitation of the pipe.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides a robot is maintained to ocean petroleum pipeline can adsorb at pipeline outer wall under water, overcomes the influence of undercurrent to effectively maintain the pipeline.
In order to realize the purpose, the utility model discloses a technical scheme be:
a marine petroleum pipeline maintenance robot comprises a cylinder shell and a moving mechanism, wherein the moving mechanism is arranged outside the cylinder shell, the moving mechanism comprises a connecting seat and crawling legs, the connecting seat is sleeved on the cylinder shell, at least four connecting pieces are uniformly distributed around the connecting seat, the number of the crawling legs is the same as that of the connecting pieces, each crawling leg comprises a first leg part, a second leg part and a fixed sucker, one end of the first leg part is rotatably connected with the connecting piece, the first leg part is in transmission connection with the connecting piece through a first leg part movable joint, one end of the first leg part, far away from the connecting piece, is rotatably connected with one end of the second leg part, the first leg part is in transmission connection with one end of the second leg part through a second leg part movable joint, under the action of the first leg part movable joint and the second leg part movable joint, the first leg part and the second leg part carry out arm body movable joint movement; one end, far away from the first leg, of the second leg is hinged to the fixed sucker, and the fixed sucker is an electromagnetic sucker;
and a maintenance mechanism is arranged in the cylinder shell and is used for spraying maintenance liquid or isolation gas so as to enable the damaged pipeline to be in a waterproof environment for coating and spraying the maintenance liquid.
Further, the maintenance mechanism comprises a placing cylinder, a storage bin and a maintenance arm,
the outer wall of the placing cylinder is fixedly sleeved with a gear ring, the inner wall of the cylinder shell is fixedly provided with a fixing ring, the fixing ring is fixedly provided with a rotating motor, and a transmission shaft of the rotating motor is connected with the gear ring through a rotating fluted disc so that the rotating motor can drive the placing cylinder to rotate in the cylinder shell;
the maintenance arm comprises a first arm body, a second arm body and a third arm body, two ends of the second arm body are respectively rotatably connected with the first arm body and the third arm body, the angle between the second arm body and the first arm body as well as the angle between the second arm body and the third arm body are adjusted through a first arm body movable joint and a second arm body movable joint, one end, far away from the second arm body, of the first arm body is fixedly provided with a sliding piece in sliding fit with the inner wall of the placing cylinder, and the sliding piece is connected with the placing cylinder through a first lifting device and is in sliding connection with the placing cylinder so that the second arm body and the third arm body can extend out of the placing cylinder;
the storage bin is arranged on the inner wall of the top of the cylinder shell and comprises a gas bin and a liquid bin, the third arm body is far away from one end of the second arm body and is provided with a nozzle, the gas bin and the liquid bin are connected with the nozzle through a guide pipe, and isolation gas in the gas bin and maintenance liquid in the liquid bin all pass through the nozzle to be sprayed, so that the pipeline is damaged and is in waterproof environment to maintain the liquid.
Furthermore, the first lifting device comprises a fixed plate, a first supporting plate, a second supporting plate and a lifting gear set, the fixed plate is located in the placing cylinder and is fixedly connected with the inner wall of the placing cylinder, a first lifting motor is fixedly arranged on the fixed plate, a first lifting screw is arranged on a transmission shaft of the first lifting motor in a transmission manner, one end, far away from the first lifting motor, of the first lifting screw is in threaded connection with the first supporting plate, the first supporting plate is in sliding connection with the inner wall of the placing cylinder, and one surface, opposite to the fixed plate, of the first supporting plate is fixedly connected with the second supporting plate through a connecting frame, so that the first supporting plate and the second supporting plate can slide along the axial direction of the placing cylinder under the transmission action of the first lifting screw;
the first supporting plate is fixedly provided with a second lifting motor, the second lifting motor is positioned between the first supporting plate and the second supporting plate, the lifting gear set comprises a lifting gear shaft and a lifting gear disc, the lifting gear shaft is in transmission connection with a driving shaft of the second lifting motor, and the lifting gear disc is meshed with the lifting gear shaft and is in rotary connection with the second supporting plate; the slider has set firmly the transmission seat, the transmission seat screw thread is worn to be equipped with second lifting screw, second lifting screw with the transmission of lifting gear dish is connected, with under the transmission of second lifting screw, the maintenance arm can be along with first backup pad reaches the second backup pad is followed place the drum axial direction and slide.
Furthermore, the first arm body movable joint comprises a first arm body motor and a first arm body gear set, the first arm body motor is fixedly connected with the first arm body, a driving shaft of the first arm body motor is in transmission connection with the second arm body through the first arm body gear set, and the angle between the second arm body and the first arm body is adjusted under the transmission action of driving the first arm body gear set;
the second arm body movable joint comprises a second arm body motor and a second arm body gear set, the second arm body motor is fixedly arranged on the second arm body, the second arm body motor is connected with the third arm body in a transmission mode through the second arm body gear set, and the second arm body gear set is driven to adjust the angle between the third arm body and the second arm body.
Furthermore, the second arm body comprises a fixed part and a sliding part, one end of the fixed part is rotatably connected with the first arm body, the other end of the fixed part is connected with the sliding part in a sliding manner, the fixed part is connected with the sliding part through a ball screw, and the ball screw is driven by a telescopic motor so that the sliding part and the fixed part can perform relative displacement.
Further, the connecting seat passes through the second elevating gear with the drum shell is connected, the second elevating gear is equipped with four at least, the second elevating gear sets up with encircleing on the outer wall of drum shell, and each the second elevating gear includes fixed block, third elevator motor, third lifting screw, the outer wall of drum shell sets firmly the spacing groove, the fixed block fixing clip is established in the spacing groove, the third elevator motor with connecting seat inner wall fixed connection, third lifting screw one end with the drive shaft transmission of third elevator motor is connected, and other end screw thread wears to locate the fixed block under the effect of third elevator motor, the connecting seat can be followed the axial direction of drum shell removes.
Further, the first leg movable joint comprises a first leg motor and a first leg gear set, the first leg motor is fixedly connected with the connecting piece, the first leg motor is in transmission connection with the first leg through the first leg gear set, and the angle between the first leg and the connecting piece is adjusted by driving the first leg gear set;
the second leg movable joint comprises a second leg motor and a second leg gear set, the second leg motor is fixedly connected with the first leg, the second leg motor is connected with the second leg in a transmission mode, and the second leg motor drives the second leg gear set to adjust the angle between the second leg and the first leg.
Furthermore, an adjusting motor is fixedly arranged on the connecting seat, an adjusting gear is fixedly arranged on a driving shaft of the adjusting motor, one side of the connecting piece is sleeved outside the adjusting gear and meshed with the adjusting gear, the other side of the connecting piece is rotatably connected with the connecting seat, and the connecting piece can rotate perpendicular to the axial direction of the cylindrical shell under the driving of the adjusting gear.
The utility model has the advantages that:
1. under the matching action of the first leg movable joint and the second leg movable joint, the crawling leg can move; one end, far away from the first leg, of the second leg is hinged to the fixed sucker, the fixed sucker is an electromagnetic sucker, the fixed sucker is powered on or powered off, so that the crawling leg can be adsorbed on or released from a pipeline, meanwhile, the crawling leg is matched with the movement, the cylinder shell can be moved on the pipeline, the robot is moved to a position, needing to be maintained, of the pipeline, the cylinder shell can be stably arranged on the pipeline under the action of the fixed sucker due to the fact that the pipeline is mostly made of steel pipes, and the influence of a dark current is prevented; and the crawling leg is bent by controlling the first leg movable joint and the second leg movable joint, so that the cylinder shell is covered on the position of the pipeline to be maintained, under the action of the maintenance mechanism, the isolation gas is firstly sprayed out, so that a space with proper pressure intensity is formed between the cylinder shell and the pipeline, and then the maintenance liquid is sprayed out, so that the position of the pipeline to be maintained is maintained.
2. Under the action of the first lifting device, the second arm body and the third arm body can extend out of the placing cylinder, so that the nozzle can isolate or spray liquid to maintain the position of the pipeline to be maintained; meanwhile, under the action of the first arm body movable joint and the second arm body movable joint, the angle between the first arm body and the second arm body and the angle between the second arm body and the third arm body can be adjusted, so that the spray angle of the nozzle can be flexibly adjusted; under the effect of rotating the motor, can drive and place the drum and rotate in the drum shell to make the nozzle can rotate along the axial direction of second arm body, under the combined action through first elevating gear, first arm body movable joint, second arm body movable joint and rotation motor, can make the nozzle can more accurately manage the position that the pipeline need be maintained and maintain.
3. Because the pipeline outer wall is the arc structure, under the effect of adjustment motor, can make the adjustment gear drive the connecting piece and rotate to make the axial direction that the connecting piece can the perpendicular to drum shell rotate, thereby realize the interval between each leg of crawling, so that each leg of crawling all can adsorb suitable position on the pipeline through electromagnet, in order to guarantee the stability that drum shell is fixed in the maintenance process.
Drawings
Fig. 1 is a schematic structural view of an offshore oil pipeline maintenance robot according to a preferred embodiment of the present invention.
Fig. 2 is a schematic view of a second lifting device of the marine petroleum pipeline maintenance robot according to a preferred embodiment of the present invention.
Fig. 3 is a schematic view of a connection structure of the marine petroleum pipeline maintenance robot according to a preferred embodiment of the present invention.
Fig. 4 is a schematic structural view of a maintenance arm of the marine oil pipeline maintenance robot according to a preferred embodiment of the present invention.
Fig. 5 is a schematic structural view of a first lifting device of the marine petroleum pipeline maintenance robot according to a preferred embodiment of the present invention.
In the figure, 1-cylinder shell, 11-fixed ring, 2-connecting seat, 201-connecting piece, 202-adjusting motor, 203-adjusting gear, 21-crawling leg, 211-first leg, 212-second leg, 213-fixed sucker, 3-placing cylinder, 301-gear ring, 31-storage bin, 311-gas bin, 312-liquid bin, 313-switch valve, 32-rotating motor, 321-rotating fluted disc, 4-maintenance arm, 41-first arm body, 411-sliding piece, 42-second arm body, 421-fixed part, 422-sliding part, 423-ball screw rod, 424-telescopic motor, 425-sliding rod, 426-sliding groove, 43-third arm body, 44-nozzle, 5-fixed plate, 51-first support plate, 511-connecting frame, 52-second support plate, 53-first lifting motor, 531-first lifting screw, 54-second lifting motor, 55-lifting gear shaft, 551-lifting gear disc, 56-transmission seat, 561-second lifting screw, 61-first arm motor, 611-first arm gear set, 62-second arm motor, 621-second arm gear set, 7-fixing block, 71-third lifting motor, 72-third lifting screw, 73-spacing groove, 81-first leg motor, 811-first leg gear set, 82-second leg motor, 821-second leg gear set.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 5, the marine petroleum pipeline maintenance robot according to a preferred embodiment of the present invention includes a cylinder housing 1 and a moving mechanism.
The moving mechanism is arranged outside the cylinder shell 1, the moving mechanism comprises a connecting seat 2 and crawling legs 21, the connecting seat 2 is sleeved on the cylinder shell 1, at least four connecting pieces 201 are uniformly distributed around the connecting seat 2, the crawling legs 21 are the same as the connecting pieces 201 in number, each crawling leg 21 comprises a first leg 211, a second leg 212 and a fixed sucker 213, one end of each first leg 211 is rotatably connected with the corresponding connecting piece 201, the first leg 211 is in transmission connection with the corresponding connecting piece 201 through a first leg movable joint, one end, far away from the corresponding connecting piece 201, of each first leg 211 is rotatably connected with one end of the corresponding second leg 212, the first leg 211 is in transmission connection with one end of the corresponding second leg 212 through a second leg movable joint, and under the action of the first leg movable joint and the second leg movable joint, the first leg 211 and the second leg 212 perform arm body movable joint movement.
In this embodiment, the first leg moving joint includes a first leg motor 81 and a first leg gear set 811, the first leg motor 81 is fixedly connected to the connecting member 201, and the first leg motor 81 is in transmission connection with the first leg 211 through the first leg gear set 811, so as to adjust an angle between the first leg 211 and the connecting member 201 by driving the first leg gear set 811. The first leg gear set 811 is two bevel gears engaged with each other, one of which is in transmission connection with the driving shaft of the first leg motor 81, and the other of which is in transmission connection with the first leg 211.
The second leg moving joint includes a second leg motor 82 and a second leg gear set 821, the second leg motor 82 is fixedly connected to the first leg 211, and the second leg motor 82 is in transmission connection with the second leg 212 through the second leg gear set 821, so as to adjust an angle between the second leg 212 and the first leg 211 by driving the second leg gear set 821. The second leg gear set 821 is two intermeshing toothed discs, one of which is drivingly connected to the drive shaft of the second leg motor 82 and the other of which is drivingly connected to the second leg 212.
The end of the second leg 212 away from the first leg 211 is hinged to a fixed suction cup 213, and the fixed suction cup 213 is an electromagnetic suction cup.
The cylinder shell 1 is internally provided with a maintenance mechanism which is used for spraying maintenance liquid or isolation gas so as to enable the damaged pipeline to be in a waterproof environment for coating and spraying the maintenance liquid.
Under the matching action of the first leg movable joint and the second leg movable joint, the crawling leg 21 can move; the one end that first shank was kept away from to the second shank is articulated with fixed suction cup 213, and fixed suction cup 213 is electromagnet, through going on to fixed suction cup 213 power-on or fall electric control for crawling leg 21 can adsorb on the pipeline or release on the pipeline, and the activity of cooperation crawling leg 21 simultaneously can make drum shell 1 remove on the pipeline, so that the robot removes the position that needs the maintenance to the pipeline. Because the pipeline is mostly a steel pipe, the cylinder shell 1 can be stably arranged on the pipeline under the action of the fixed sucker 213, so that the influence of a dark current is prevented, the robot shakes, and the position of the pipeline needing to be maintained cannot be accurately maintained; and the crawling leg 21 is bent by controlling the first leg movable joint and the second leg movable joint, so that the cylinder shell 1 is covered on the position of the pipeline to be maintained, under the action of the maintenance mechanism, the isolation gas is firstly sprayed out, so that a space with proper pressure intensity is formed between the cylinder shell and the pipeline, and then the maintenance liquid is sprayed out, so that the position of the pipeline to be maintained is maintained.
In this embodiment, the connecting base 2 is connected to the cylinder housing 1 through at least four second lifting devices, the second lifting devices are circumferentially disposed on the outer wall of the cylinder housing 1, and each second lifting device includes a fixing block 7, a third lifting motor 71, and a third lifting screw 72.
The outer wall of the cylinder shell 1 is fixedly provided with a limiting groove 73, a fixing block 7 is fixedly clamped in the limiting groove 73, a third lifting motor 71 is fixedly connected with the inner wall of the connecting seat 2, one end of a third lifting screw 72 is in transmission connection with a driving shaft of the third lifting motor 71, the other end of the third lifting screw penetrates through the fixing block 7 in a threaded manner, and the connecting seat 2 can move along the axial direction of the cylinder shell 1 under the action of the third lifting motor 71.
Because the bending degree of the crawling leg 21 has a certain threshold value, after the crawling leg 21 bends to the threshold value, the cylinder shell 1 still cannot be close to the pipeline, the third lifting motor 71 can be controlled to rotate, the third lifting screw 72 rotates along with the third lifting screw, so that the fixing block 7 can move along the third lifting screw 72, the fixing block 7 drives the cylinder shell 1 to move, the cylinder shell 1 can approach the pipeline, and the cylinder shell 1 is covered on the position, needing to be maintained, of the pipeline.
Preferably, the connecting base 2 is fixedly provided with an adjusting motor 202, a driving shaft of the adjusting motor 202 is fixedly provided with an adjusting gear 203, one side of the connecting member 201 is sleeved outside the adjusting gear 203 and meshed with the adjusting gear 203, and the other side of the connecting member is rotatably connected with the connecting base 2, so that the connecting member 201 can rotate perpendicular to the axial direction of the cylindrical shell 1 under the driving of the adjusting gear 203.
Because the pipeline outer wall is arc structure, under adjustment motor 202's effect, can make adjustment gear 203 drive connecting piece 201 and rotate to make connecting piece 201 can rotate by the axial direction of perpendicular to drum shell 1, thereby realize the interval between each leg 21 of crawling, so that each leg 21 of crawling all can adsorb suitable position on the pipeline through fixed suction cup 213, in order to guarantee the stability that drum shell 1 is fixed in the maintenance process.
In this embodiment, the maintenance mechanism includes a placing cylinder 3, a storage bin 31 and a maintenance arm 4,
place the fixed cover of 3 outer walls of drum and be equipped with ring gear 301, 1 inner wall of drum shell has set firmly fixed ring 11, and fixed ring 11 has set firmly rotation motor 32, and rotation motor 32's transmission shaft passes through rotation fluted disc 321 to be connected with ring gear 301 insection to make rotation motor 32 can drive and place drum 3 and rotate in drum shell 1.
The maintenance arm 4 comprises a first arm body 41, a second arm body 42 and a third arm body 43, two ends of the second arm body 42 are respectively rotatably connected with the first arm body 41 and the third arm body 43, the angle between the second arm body 42 and the first arm body 41 and the angle between the third arm body 43 are adjusted through a first arm body movable joint and a second arm body movable joint, one end, far away from the second arm body 42, of the first arm body 41 is fixedly provided with a sliding piece 411 in sliding fit with the inner wall of the placing cylinder 3, and the sliding piece 411 is connected with the placing cylinder 3 through a first lifting device and is in sliding connection with the placing cylinder 3, so that the second arm body 42 and the third arm body 43 can extend out of the placing cylinder 3.
The storage chamber 31 is provided with an inner wall at the top of the cylinder shell 1, the storage chamber 31 comprises a gas chamber 311 and a liquid chamber 312, one end of the third arm 43, which is far away from the second arm 42, is provided with a nozzle 44, the gas chamber 311 and the liquid chamber 312 are connected with the nozzle 44 through a conduit, and the isolation gas in the gas chamber 311 and the maintenance liquid in the liquid chamber 312 are sprayed out through the nozzle 44, so that the damaged pipeline is coated with the maintenance liquid in a water-proof environment. The gas tank 311 and the liquid tank 312 of the present embodiment are both provided with an on-off valve 313.
Under the action of the first lifting device, the second arm body 42 and the third arm body 43 can extend out of the placing cylinder 3, so that the nozzle 43 can perform isolation or liquid spraying maintenance on the position of the pipeline needing maintenance; meanwhile, under the action of the first arm body movable joint and the second arm body movable joint, the angle between the first arm body 41 and the second arm body 42 and the angle between the second arm body 42 and the third arm body 43 can be adjusted, so that the spray angle of the nozzle 43 can be flexibly adjusted; under the action of the rotating motor 32, the placing cylinder 3 can be driven to rotate in the cylinder shell 1, so that the nozzle 43 can rotate along the axial direction of the second arm 42, and the nozzle can be maintained at the position needing to be maintained more accurately under the combined action of the first lifting device, the first arm movable joint, the second arm movable joint and the rotating motor 32.
Preferably, the first arm body movable joint includes a first arm body motor 61 and a first arm body gear set 611, the first arm body motor 61 is fixedly connected to the first arm body 41, and a driving shaft of the first arm body motor 61 is in transmission connection with the second arm body 42 through the first arm body gear set 611, so as to adjust an angle between the second arm body 42 and the first arm body 41 under a transmission action of driving the first arm body gear set 611. The first arm gear set 611 of the present embodiment includes two bevel gears engaged with each other, one of the bevel gears is in transmission connection with the driving shaft of the first arm motor 61, and the other bevel gear is in transmission connection with the second arm 42.
The second arm body movable joint comprises a second arm body motor 62 and a second arm body gear set 621, the second arm body motor 62 is fixedly arranged on the second arm body 42, the second arm body motor 62 is in transmission connection with the third arm body 43 through the second arm body gear set 621, and the angle between the third arm body 43 and the second arm body 42 is adjusted by driving the second arm body gear set 621. The second arm gear set 621 of this embodiment includes two gear discs engaged with each other, one of the gear discs is in transmission connection with the second arm motor 62, and the other gear disc is in transmission connection with the third arm 43.
In this embodiment, the first lifting device includes a fixing plate 5, a first supporting plate 51, a second supporting plate 52 and a lifting gear set.
Fixed plate 5 is located place the drum 3 in and with the inner wall fixed connection who places drum 3, fixed plate 5 is last to set firmly first elevator motor 53, the transmission shaft transmission of first elevator motor 53 is provided with first lifting screw 531, the one end and the first backup pad 51 threaded connection of first elevator motor 53 are kept away from to first lifting screw 531, first backup pad 51 with place the inner wall sliding connection of drum 3, and the one side of first backup pad 51 fixed plate 5 dorsad is through link 511 and second backup pad 52 fixed connection, with under the transmission effect of first lifting screw 531, first backup pad 51 and second backup pad 52 can be followed and place the slip of drum 3 axial direction. The first lifting motor 53 and the first lifting screw 531 are disposed in two numbers, and the two first lifting motors 53 and the two first lifting screws 531 are respectively disposed on two sides of the fixing plate 5.
The first supporting plate 51 is fixedly provided with a second lifting motor 54, the second lifting motor 54 is positioned between the first supporting plate 51 and the second supporting plate 52, the lifting gear set comprises a lifting gear shaft 55 and a lifting gear disc 551, the lifting gear shaft 55 is in transmission connection with a driving shaft of the second lifting motor 54, and the lifting gear disc 551 is meshed with the lifting gear shaft 55 and is in rotary connection with the second supporting plate 52; the sliding member 411 is fixedly provided with a transmission seat 56, a second lifting screw 561 is threaded through the transmission seat 56, and the second lifting screw 561 is in transmission connection with the lifting gear plate 551, so that under the transmission action of the second lifting screw 561, the maintenance arm 4 can slide along the axial direction of the placing cylinder 3 along with the first supporting plate 51 and the second supporting plate 52.
By controlling the rotation of the first lifting motor 53, the first lifting screw 531 rotates therewith, so that the first support plate 51 and the second support plate 52 can move up and down along the first lifting screw 531; meanwhile, the second lifting motor 54 is controlled to rotate, so that the lifting gear shaft 55 drives the lifting gear disc 551 to rotate, the lifting gear disc 551 drives the second lifting screw 561 to rotate, the transmission seat 56 can move up and down along the second lifting screw 561, the sliding part 411 moves up and down along the transmission seat 56, and the lifting of the maintenance arm 4 is realized.
In this embodiment, the second arm 42 includes a fixing portion 421 and a sliding portion 422, one end of the fixing portion 421 is rotatably connected to the first arm 41, the other end is slidably connected to the sliding portion 422, the fixing portion 421 is connected to the sliding portion 422 through a ball screw 423, and the ball screw 423 is driven by a telescopic motor 424 to allow the sliding portion 422 and the fixing portion 421 to perform relative displacement. In the present embodiment, a sliding rod 425 and a sliding groove 426 are provided, the sliding groove 426 is fixedly connected to the fixing portion 421, the sliding rod 425 is connected to the sliding portion 422, and the sliding rod 425 slidably penetrates through the sliding groove 426 to realize the sliding connection between the sliding portion 422 and the fixing portion 421.
The ball screw 423 is driven by the telescopic motor 424 to rotate, so that the sliding part 422 can move away from or close to the fixing part 421, and the nozzle 44 can further extend out of the placing cylinder 3, so that the nozzle 4 can be more accurately aligned with the position of the pipeline to be maintained.
The utility model discloses a pipeline maintenance process of robot is maintained to marine petroleum pipeline does:
through controlling first shank motor 81 and second shank motor 82 on each leg 21 of crawling, make the leg 21 of crawling move about, control fixed suction cup 213 simultaneously and go on to go up electric or fall the power control for the leg 21 of crawling can adsorb on the pipeline or release on the pipeline, thereby the robot can crawl to the position that the pipeline needs to be maintained.
When the robot climbs to the position where the pipeline needs to be maintained, all the fixed suction cups 213 are powered on, so that the fixed suction cups 213 can be adsorbed on the pipeline; first shank motor 81 and second shank motor 82 on each crawling leg 21 of control, make drum shell 1 just face the pipeline and cover and establish on the position that the pipeline needs to be maintained, when drum shell 1 can't cover and establish on the pipeline, accessible control third elevator motor 71 rotates, third elevator screw 72 rotates along with it, thereby make fixed block 7 can remove along third elevator screw 72, and fixed block 7 drives drum shell 1 and removes, drum shell 1 can be close to towards the pipeline, with the removal through control drum shell 1, make drum shell 1 cover establish on the position that the pipeline needs to be maintained.
By controlling the rotation of the first lifting motor 53, the first lifting screw 531 rotates therewith, so that the first support plate 51 and the second support plate 52 can move up and down along the first lifting screw 531; meanwhile, the second lifting motor 54 is controlled to rotate, so that the lifting gear shaft 55 drives the lifting gear plate 551 to rotate, the lifting gear plate 551 drives the second lifting screw 561 to rotate, the transmission seat 56 can move up and down along the second lifting screw 561, and the sliding part 411 moves up and down along the transmission seat 56, so that the second arm 42 and the third arm 43 can extend out of the placing cylinder 3.
The first arm motor 61 and the second arm motor 62 are controlled to adjust the angle between the second arm 42 and the first arm 41 and the angle between the third arm 43 and the second arm 42; at the same time, the rotation motor 32 is controlled to drive the placing cylinder 3 to rotate within the cylinder housing 1, thereby enabling the nozzle 43 to rotate in the axial direction of the second arm 42.
Under the combined action of the first lifting device, the first arm body movable joint, the second arm body movable joint and the rotating motor 32, the nozzle can be more accurately aligned to the position of the pipeline to be maintained.
After the nozzle is aligned with the position of the pipeline to be maintained, the on-off valve 313 of the gas bin 311 is opened to discharge the gas bin 311 through the nozzle 44, so that the cylinder housing 1 and the pipeline form a space with proper pressure, and then after the on-off valve 313 of the gas bin 311 is closed, the liquid bin is opened to spray the maintenance liquid through the nozzle 44, so that the maintenance of the pipeline is realized.
Claims (8)
1. The marine petroleum pipeline maintenance robot is characterized by comprising a cylinder shell (1) and a moving mechanism, wherein the moving mechanism is arranged outside the cylinder shell (1), the moving mechanism comprises a connecting seat (2) and crawling legs (21), the connecting seat (2) is sleeved on the cylinder shell (1), at least four connecting pieces (201) are uniformly distributed around the connecting seat (2), the crawling legs (21) are the same as the connecting pieces (201), each crawling leg (21) comprises a first leg part (211), a second leg part (212) and a fixed sucker (213), one end of the first leg part (211) is rotatably connected with the connecting piece (201), the first leg part (211) is in transmission connection with the connecting piece (201) through a first leg part movable joint, one end, far away from the connecting piece (201), of the first leg part (211) is rotatably connected with one end of the second leg part (212), the first leg part (211) is in transmission connection with one end of the second leg part (212) through a second leg part movable joint, and under the action of the first leg part movable joint and the second leg part movable joint, the first leg part (211) and the second leg part (212) perform arm body movable joint movement; one end, far away from the first leg (211), of the second leg (212) is hinged to the fixed sucker (213), and the fixed sucker (213) is an electromagnetic sucker;
and a maintenance mechanism is arranged in the cylinder shell (1) and is used for spraying maintenance liquid or isolation gas so that the damaged pipeline is coated and sprayed with the maintenance liquid in a waterproof environment.
2. The marine petroleum pipeline maintenance robot of claim 1, wherein: the maintenance mechanism comprises a placing cylinder (3), a storage bin (31) and a maintenance arm (4),
the gear ring (301) is fixedly sleeved on the outer wall of the placing cylinder (3), the fixing ring (11) is fixedly arranged on the inner wall of the cylinder shell (1), the rotating motor (32) is fixedly arranged on the fixing ring (11), and a transmission shaft of the rotating motor (32) is connected with the gear ring (301) in a tooth pattern mode through a rotating fluted disc (321), so that the rotating motor (32) can drive the placing cylinder (3) to rotate in the cylinder shell (1);
the maintenance arm (4) comprises a first arm body (41), a second arm body (42) and a third arm body (43), the two ends of the second arm body (42) are respectively connected with the first arm body (41) and the third arm body (43) in a rotating way, and the angle between the second arm body (42) and the first arm body (41) and the third arm body (43) is adjusted by a first arm body movable joint and a second arm body movable joint, one end of the first arm body (41) far away from the second arm body (42) is fixedly provided with a sliding part (411) which is in sliding fit with the inner wall of the placing cylinder (3), the sliding piece (411) is connected with the placing cylinder (3) through a first lifting device and is in sliding connection with the placing cylinder (3), so that the second arm (42) and the third arm (43) can extend out of the placing cylinder (3);
store storehouse (31) setting the inner wall at drum shell (1) top, just store storehouse (31) including gas storehouse (311) and liquid storehouse (312), third arm body (43) are kept away from the one end of second arm body (42) is equipped with nozzle (44), gas storehouse (311) reach liquid storehouse (312) pass through the pipe with nozzle (44) are connected, isolation gas in gas storehouse (311) reaches the maintenance liquid of liquid storehouse (312) all passes through nozzle (44) blowout to make the pipeline damage be in and maintain the coating of liquid under the environment of water-proof.
3. The marine petroleum pipeline maintenance robot of claim 2, wherein: the first lifting device comprises a fixing plate (5), a first supporting plate (51), a second supporting plate (52) and a lifting gear set, wherein the fixing plate (5) is positioned in the placing cylinder (3) and fixedly connected with the inner wall of the placing cylinder (3), a first lifting motor (53) is fixedly arranged on the fixing plate (5), a first lifting screw (531) is arranged on a transmission shaft of the first lifting motor (53), one end of the first lifting screw (531), far away from the first lifting motor (53), is in threaded connection with the first supporting plate (51), the first supporting plate (51) is in sliding connection with the inner wall of the placing cylinder (3), the first supporting plate (51) is back to one surface of the fixing plate (5) and is fixedly connected with the second supporting plate (52) through a connecting frame (511) so as to be under the transmission action of the first lifting screw (531), the first support plate (51) and the second support plate (52) are slidable in the axial direction of the placing cylinder (3);
the first supporting plate (51) is fixedly provided with a second lifting motor (54), the second lifting motor (54) is positioned between the first supporting plate (51) and the second supporting plate (52), the lifting gear set comprises a lifting gear shaft (55) and a lifting gear disc (551), the lifting gear shaft (55) is in transmission connection with a driving shaft of the second lifting motor (54), and the lifting gear disc (551) is meshed with the lifting gear shaft (55) and is in rotary connection with the second supporting plate (52); the sliding part (411) is fixedly provided with a transmission seat (56), a second lifting screw (561) penetrates through the transmission seat (56) in a threaded mode, the second lifting screw (561) is in transmission connection with the lifting gear disc (551), and under the transmission effect of the second lifting screw (561), the maintenance arm (4) can slide along the axial direction of the placing cylinder (3) along with the first supporting plate (51) and the second supporting plate (52).
4. The marine petroleum pipeline maintenance robot of claim 2, wherein: the first arm body movable joint comprises a first arm body motor (61) and a first arm body gear set (611), the first arm body motor (61) is fixedly connected with the first arm body (41), a driving shaft of the first arm body motor (61) is in transmission connection with the second arm body (42) through the first arm body gear set (611), and the angle between the second arm body (42) and the first arm body (41) is adjusted under the transmission action of driving the first arm body gear set (611);
second arm body activity festival includes second arm body motor (62) and second arm body gear train (621), second arm body motor (62) set firmly on second arm body (42), just second arm body motor (62) pass through second arm body gear train (621) with third arm body (43) transmission is connected, through the drive second arm body gear train (621), in order to adjust third arm body (43) with angle between the second arm body (42).
5. The marine petroleum pipeline maintenance robot of claim 2, wherein: the second arm body (42) comprises a fixing portion (421) and a sliding portion (422), one end of the fixing portion (421) is rotatably connected with the first arm body (41), the other end of the fixing portion is slidably connected with the sliding portion (422), the fixing portion (421) is connected with the sliding portion (422) through a ball screw (423), and the ball screw (423) is driven by a telescopic motor (424) to enable the sliding portion (422) and the fixing portion (421) to perform relative displacement.
6. The marine petroleum pipeline maintenance robot of claim 1, wherein: the connecting seat (2) is connected with the cylinder shell (1) through a second lifting device, the number of the second lifting devices is at least four, the second lifting devices are arranged on the outer wall of the cylinder shell (1) in a surrounding manner, each second lifting device comprises a fixed block (7), a third lifting motor (71) and a third lifting screw (72), the outer wall of the cylinder shell (1) is fixedly provided with a limit groove (73), the fixing block (7) is fixedly clamped in the limit groove (73), the third lifting motor (71) is fixedly connected with the inner wall of the connecting seat (2), one end of the third lifting screw rod (72) is in transmission connection with a driving shaft of the third lifting motor (71), the other end of the third lifting screw rod is threaded through the fixed block (7), under the action of the third lifting motor (71), the connecting seat (2) can move along the axial direction of the cylinder shell (1).
7. The marine petroleum pipeline maintenance robot of claim 1, wherein: the first leg movable joint comprises a first leg motor (81) and a first leg gear set (811), the first leg motor (81) is fixedly connected with the connecting piece (201), the first leg motor (81) is in transmission connection with the first leg (211) through the first leg gear set (811), and the angle between the first leg (211) and the connecting piece (201) is adjusted by driving the first leg gear set (811);
the second leg movable joint comprises a second leg motor (82) and a second leg gear set (821), the second leg motor (82) is fixedly connected with the first leg (211), the second leg motor (82) is in transmission connection with the second leg (212) through the second leg gear set (821), and the angle between the second leg (212) and the first leg (211) is adjusted by driving the second leg gear set (821).
8. The marine petroleum pipeline maintenance robot of claim 1, wherein: the connecting seat (2) is fixedly provided with an adjusting motor (202), a driving shaft of the adjusting motor (202) is fixedly provided with an adjusting gear (203), one side of the connecting piece (201) is sleeved outside the adjusting gear (203) and meshed with the adjusting gear (203), the other side of the connecting piece is rotatably connected with the connecting seat (2), and the connecting piece (201) can be perpendicular to the axial direction of the cylinder shell (1) to rotate under the driving of the adjusting gear (203).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020856345.8U CN212445249U (en) | 2020-05-21 | 2020-05-21 | Marine petroleum pipeline maintenance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020856345.8U CN212445249U (en) | 2020-05-21 | 2020-05-21 | Marine petroleum pipeline maintenance robot |
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| Publication Number | Publication Date |
|---|---|
| CN212445249U true CN212445249U (en) | 2021-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020856345.8U Expired - Fee Related CN212445249U (en) | 2020-05-21 | 2020-05-21 | Marine petroleum pipeline maintenance robot |
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| CN (1) | CN212445249U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116900609A (en) * | 2023-09-11 | 2023-10-20 | 中鼎(吉林)智能制造工程有限公司 | Boiler production welding frock |
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2020
- 2020-05-21 CN CN202020856345.8U patent/CN212445249U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116900609A (en) * | 2023-09-11 | 2023-10-20 | 中鼎(吉林)智能制造工程有限公司 | Boiler production welding frock |
| CN116900609B (en) * | 2023-09-11 | 2023-12-12 | 中鼎(吉林)智能制造工程有限公司 | Boiler production welding frock |
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